Dexterous Execution of RRM on ISS · Dexterous Execution of RRM on ISS Satellite Servicing Workshop...
Transcript of Dexterous Execution of RRM on ISS · Dexterous Execution of RRM on ISS Satellite Servicing Workshop...
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Dexterous Execution
of RRM on ISS
Satellite Servicing
Workshop Goddard Space Flight Center
Approved for release, distribution unlimited
P. Andrew Keenan
Canadian Space Agency
24May2012
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MSS and GSFC’s RRM
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Canadian Space Robotics Today
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External Maintenance and Dextre
Dextre’s “hand” with tool
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Failed Remote Power Control Module (RPCM)
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Maintenance Task List
Main Bus Switching Unit(MBSU)
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SPARES on ESP-2SPARES in CTC
MDM ORU
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Ground Control and MSS
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RRM Overview
MLI/Wire Cutter Tool
Safety Cap Tool
Imagery courtesy
NASA/GSFC
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EVR Nozzle Tool
Multi-Function Tool
Each RRM Tool has cameras designed to
maximize situation awareness for the ground
operators
Dextre provides camera power and supports
video transfer to ground
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RRM Delivery to ISS on Atlantis
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ISS Landscape
DEXTRE
CANADARM2
Mobile Base
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RRM Readiness & Challenges
� Required positional and trajectory accuracy requirements
exceed normal dexterous operational requirements
� +/-6mm -> +/-2mm or less
� +/-1deg -> +/- 0.5deg or less
� ISS H/W is designed or “prepared” for dexterous manipulation
whereas existing satellites are “unprepared”
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Mission Overview
Coolant Valve Manipulation
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Mission Overview
Refuelling
Imagery courtesy
NASA/GSFC
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Safety wires (not shown) are present on each cap:
Tertiary Cap
Safety Cap NutActuation Nut
and need to be cut using the WCT prior to each cap removal and stowage
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Mission Overview
Electrical Connection Access
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Imagery
courtesy NASA/GSFC
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CSA Involvement with RRMAstronauts Samantha
Cristoforetti (ESA) and David
Saint-Jacques (CSA) with CSA robotics trainer Daniel
Katzman in the MSS
Operations and Training Simulator (MOTS)
MacDonal Dettwiller &
Associate’s (MDA’s) Ground
Testbed (GT) simulator for
Dextrous robotics in Brampton, Ontario – used to perform
operational tests with RRM hardware
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MSS at Work
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